Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 605 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 605 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 559.0387 R_PORT_OVSHOOT 27 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -48067.812 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 559.0387

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -48067.812

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 27 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 605 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 130511,043928,6709.512,-5724.338,0,2104.0,0,-37.6 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 6.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130511,043928,6709.512,-5724.338,0,2104.0,0,-37.6 MHEAD_RNG_PITCHd_Wd 152.3,28880,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 716

Post-dive calculations and measurements:

FREEZE 1.70,-1.791,-1.690,2,140,2 ALTIM_TOP_PING 19.8,18.2

FINISH 1.7,1.024847 _24V_AH 21.7,80.056

SM_CCo 12437,131.27,0.065,0,0,750,559.04 _10V_AH 10.0,41.342

SM_GC 2.64,0.00,0.00,131.27,0.000,0.000,0.065,115,2495,750,-8.59,0.14,559.04 FG_AHR_24Vo 0.000

RAFOS_CLK 652 FG_AHR_10Vo 0.000

RAFOS 6,1305262143,4.833333,4.817500,72,54,53,53,52,51,752,211,132,156,188,165 MEM 150600

RAFOS_FIX 6710.815430,-5728.173828,130511,040401,3,93,17.20 DATA_FILE_SIZE 46731,1199

IRIDIUM_FIX 6636.54,-5647.69,220411,181815 CAP_FILE_SIZE 133016,0

TT8_MAMPS 0.026215 CFSIZE 260165632,214196224

HUMID 44.84 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.50619 SOUNDSPEED 1465.6

TCM_TEMP 16.90 GPS 130511,082806,6709.627,-5712.636,35,1.7,40,-37.8

XPDR_PINGS 29

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 213 58.94 SBE_CT 852 24 443.93

Roll_motor 96 82 172.83 SBE_O2 915 19 377.53

VBD_pump_during_apogee 359 1308 10211.04 nil 0 0 0.00

VBD_pump_during_surface 131 65 185.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 9 420 86.58 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2953 19 588.29

LPSleep 6937 2 160.26

TT8_Active 549 19 109.51

TT8_Sampling 1948 39 777.92

TT8_CF8 253 45 116.20

TT8_Kalman 0 0 0.00

Analog_circuits 1573 12 188.82

GPS_charging 0 0 0.00

Compass 1939 15 290.93

RAFOS 1080 1 16.20

Transponder 17 30 5.36

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -6.50 0.000 2 0.000 0.000 2890 2271 3061 0 0 0 0 0 0

28 -0.62 -146.0 7.2 -0.0 1 53 0.62 2.70 -17.55 0.000 4 0.100 0.083 2668 3900 3625 0 0 0 0 0 0

95 -0.52 -146.0 15.5 -16.1 12 102 0.00 2.20 0.00 0.000 6 0.000 0.048 2667 2488 3627 0 0 0 0 0 0

441 -0.41 -146.0 72.6 -15.2 73 448 0.22 2.25 0.00 0.000 4 0.205 0.061 2724 1075 3626 0 0 0 0 0 0

513 -0.47 -146.0 80.9 -10.2 85 520 0.00 2.30 0.00 0.000 6 0.000 0.063 2724 2493 3627 0 0 0 0 0 0

856 -0.53 -146.0 116.4 -9.2 132 857 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2493 3626 0 0 0 0 0 0

1175 -0.59 -146.0 146.6 -9.4 162 1180 0.15 2.35 0.00 0.000 4 0.116 0.080 2671 3907 3624 0 0 0 0 0 0

1217 -0.56 -146.0 151.6 -13.0 165 1221 0.00 2.25 0.00 0.000 6 0.000 0.050 2671 2484 3624 0 0 0 0 0 0

1544 -0.51 -146.0 196.0 -14.0 195 1548 0.00 2.28 0.00 0.000 4 0.000 0.066 2671 1069 3622 0 0 0 0 0 0

1585 -0.49 -146.0 202.0 -14.6 198 1590 0.12 2.30 0.00 0.000 6 0.213 0.064 2699 2492 3622 0 0 0 0 0 0

1911 -0.52 -146.0 235.3 -9.2 228 1912 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2492 3621 0 0 0 0 0 0

2232 -0.56 -146.0 264.0 -8.8 258 2238 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2492 3621 0 0 0 0 0 0

2560 -0.60 -146.0 294.0 -9.4 289 2564 0.00 2.33 0.00 0.000 4 0.000 0.076 2699 3907 3622 0 0 0 0 0 0

2571 -0.64 -146.0 295.2 -9.0 289 2579 0.15 2.22 0.00 0.000 6 0.113 0.044 2649 2486 3621 0 0 0 0 0 0

2897 -0.57 -146.0 336.7 -13.0 320 2902 0.12 2.25 0.00 0.000 4 0.207 0.060 2678 1072 3622 0 0 0 0 0 0

2930 -0.57 -146.0 340.9 -11.0 322 2937 0.00 2.28 0.00 0.000 6 0.000 0.060 2678 2499 3622 0 0 0 0 0 0

3256 -0.57 -146.0 372.7 -9.2 353 3257 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2499 3623 0 0 0 0 0 0

3577 -0.57 -146.0 403.2 -9.8 383 3583 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2500 3624 0 0 0 0 0 0

3906 -0.57 -146.0 434.0 -8.8 414 3910 0.00 2.28 0.00 0.000 4 0.000 0.074 2678 3899 3624 0 0 0 0 0 0

3961 -0.61 -146.0 439.3 -8.5 418 3968 0.00 2.22 0.00 0.000 6 0.000 0.045 2678 2480 3624 0 0 0 0 0 0

4287 -0.61 -146.0 466.6 -8.4 449 4288 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2480 3625 0 0 0 0 0 0

4606 -0.61 -146.0 494.5 -9.1 479 4610 0.00 2.20 0.00 0.000 4 0.000 0.059 2678 1081 3625 0 0 0 0 0 0

4626 -0.61 -146.0 496.4 -9.5 480 4630 0.00 2.28 0.00 0.000 6 0.000 0.057 2677 2499 3625 0 0 0 0 0 0

4952 -0.61 -146.0 526.6 -9.3 510 4956 0.00 2.28 0.00 0.000 4 0.000 0.074 2678 3899 3626 0 0 0 0 0 0

4962 -0.61 -146.0 527.8 -9.4 510 4969 0.00 2.17 0.00 0.000 6 0.000 0.043 2678 2487 3626 0 0 0 0 0 0

5288 -0.61 -146.0 558.4 -9.7 541 5292 0.00 2.22 0.00 0.000 4 0.000 0.058 2677 1082 3627 0 0 0 0 0 0

5298 -0.61 -146.0 559.5 -9.2 541 5305 0.00 2.25 0.00 0.000 6 0.000 0.057 2678 2497 3626 0 0 0 0 0 0

5624 -0.61 -146.0 589.5 -9.4 572 5628 0.00 2.30 0.00 0.000 4 0.000 0.076 2677 3905 3627 0 0 0 0 0 0

5645 -0.61 -146.0 591.8 -9.9 573 5652 0.00 2.20 0.00 0.000 6 0.000 0.045 2678 2492 3627 0 0 0 0 0 0

5983 -0.61 -146.0 622.5 -8.8 590 5984 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2492 3627 0 0 0 0 0 0

6289 -0.76 -146.0 645.4 -4.8 600 6294 0.17 2.25 0.00 0.000 4 0.115 0.063 2619 1085 3627 0 0 0 0 0 0

6356 -1.01 -146.0 645.6 -0.5 602 6361 0.22 2.25 0.00 0.000 6 0.092 0.060 2533 2492 3627 0 0 0 0 0 0

6443 end dive: NO_VERTICAL_VELOCITY

state 6444 begin apogee

6451 -0.12 0.0 645.5 0.0 605 6582 0.90 0.00 124.95 1.309 6 0.142 0.000 2816 2263 3030 0 0 0 0 0 0

6583 end apogee: CONTROL_FINISHED_OK

state 6583 begin climb

6586 0.62 146.0 645.4 0.0 609 6726 0.77 2.55 131.25 1.260 4 0.122 0.067 3057 3674 2433 0 0 0 0 0 0

6922 0.53 146.0 612.1 12.0 619 6927 0.12 2.30 0.00 0.000 6 0.181 0.054 3038 2288 2428 0 0 0 0 0 0

7244 0.55 161.6 582.6 9.3 641 7263 0.00 0.00 13.57 1.132 6 0.000 0.000 3038 2288 2370 0 0 0 0 0 0

7582 0.57 178.6 551.0 9.2 673 7605 0.00 2.30 16.35 1.157 4 0.000 0.069 3038 3687 2301 0 0 0 0 0 0

7640 0.57 178.6 544.9 11.0 678 7644 0.00 2.28 0.00 0.000 6 0.000 0.056 3046 2277 2300 0 0 0 0 0 0

7966 0.57 178.6 511.2 10.1 708 7967 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2277 2298 0 0 0 0 0 0

8286 0.57 181.6 479.0 9.9 738 8287 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2277 2297 0 0 0 0 0 0

8604 0.57 181.6 446.5 10.3 768 8608 0.00 2.30 0.00 0.000 4 0.000 0.070 3046 3697 2296 0 0 0 0 0 0

8649 0.54 181.6 441.1 11.7 771 8655 0.00 2.28 0.00 0.000 6 0.000 0.054 3056 2271 2296 0 0 0 0 0 0

8975 0.51 181.6 405.0 11.7 802 8979 0.00 2.30 0.00 0.000 4 0.000 0.069 3056 3696 2295 0 0 0 0 0 0

9019 0.45 181.6 399.1 12.9 805 9027 0.20 2.25 0.00 0.000 6 0.177 0.053 3014 2266 2296 0 0 0 0 0 0

9345 0.55 204.0 369.5 9.0 836 9374 0.00 0.00 22.70 1.102 6 0.000 0.000 3014 2266 2197 0 0 0 0 0 0

9696 0.69 249.8 340.1 7.9 869 9744 0.20 0.00 41.85 1.095 6 0.078 0.000 3101 2266 2011 0 0 0 0 0 0

10062 0.60 249.8 280.6 16.5 904 10067 0.17 2.33 0.00 0.000 4 0.185 0.067 3055 3690 2003 0 0 0 0 0 0

10131 0.60 249.8 271.1 12.7 910 10135 0.00 2.22 0.00 0.000 6 0.000 0.053 3063 2277 2003 0 0 0 0 0 0

10458 0.60 249.8 231.9 11.8 940 10462 0.00 2.25 0.00 0.000 4 0.000 0.065 3074 863 2001 0 0 0 0 0 0

10510 0.64 249.8 225.4 12.1 944 10515 0.00 2.22 0.00 0.000 6 0.000 0.054 3074 2281 2000 0 0 0 0 0 0

10836 0.64 249.8 182.3 13.0 974 10840 0.00 2.22 0.00 0.000 4 0.000 0.067 3074 3683 2000 0 0 0 0 0 0

10948 0.64 249.8 166.3 13.8 983 10955 0.00 2.22 0.00 0.000 6 0.000 0.062 3084 2275 1999 0 0 0 0 0 0

11273 0.64 249.8 123.3 12.3 1014 11274 0.00 0.00 0.00 0.000 6 0.000 0.000 3083 2275 1999 0 0 0 0 0 0

11599 0.67 249.8 84.1 11.5 1055 11606 0.00 2.25 0.00 0.000 4 0.000 0.064 3094 856 1999 0 0 0 0 0 0

11642 0.72 249.8 79.4 10.6 1062 11649 0.00 2.22 0.00 0.000 6 0.000 0.054 3095 2275 1999 0 0 0 0 0 0

11989 0.76 260.4 44.6 9.5 1123 12003 0.00 2.35 8.82 0.832 4 0.000 0.068 3094 3688 1968 0 0 0 0 0 0

12101 0.76 260.4 31.8 11.6 1142 12108 0.00 2.25 0.00 0.000 6 0.000 0.052 3105 2272 1967 0 0 0 0 0 0

12385 end climb: SURFACE_DEPTH_REACHED

state 12385 begin surface coast

12418 end surface coast: CONTROL_FINISHED_OK

state 12418 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	605	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	559.0387	R_PORT_OVSHOOT	27	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-48067.812	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	130511,043928,6709.512,-5724.338,0,2104.0,0,-37.6	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	6.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130511,043928,6709.512,-5724.338,0,2104.0,0,-37.6	MHEAD_RNG_PITCHd_Wd	152.3,28880,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	716

FREEZE	1.70,-1.791,-1.690,2,140,2	ALTIM_TOP_PING	19.8,18.2
FINISH	1.7,1.024847	_24V_AH	21.7,80.056
SM_CCo	12437,131.27,0.065,0,0,750,559.04	_10V_AH	10.0,41.342
SM_GC	2.64,0.00,0.00,131.27,0.000,0.000,0.065,115,2495,750,-8.59,0.14,559.04	FG_AHR_24Vo	0.000
RAFOS_CLK	652	FG_AHR_10Vo	0.000
RAFOS	6,1305262143,4.833333,4.817500,72,54,53,53,52,51,752,211,132,156,188,165	MEM	150600
RAFOS_FIX	6710.815430,-5728.173828,130511,040401,3,93,17.20	DATA_FILE_SIZE	46731,1199
IRIDIUM_FIX	6636.54,-5647.69,220411,181815	CAP_FILE_SIZE	133016,0
TT8_MAMPS	0.026215	CFSIZE	260165632,214196224
HUMID	44.84	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.50619	SOUNDSPEED	1465.6
TCM_TEMP	16.90	GPS	130511,082806,6709.627,-5712.636,35,1.7,40,-37.8
XPDR_PINGS	29

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	213	58.94	SBE_CT	852	24	443.93
Roll_motor	96	82	172.83	SBE_O2	915	19	377.53
VBD_pump_during_apogee	359	1308	10211.04	nil	0	0	0.00
VBD_pump_during_surface	131	65	185.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	9	420	86.58	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2953	19	588.29
LPSleep	6937	2	160.26
TT8_Active	549	19	109.51
TT8_Sampling	1948	39	777.92
TT8_CF8	253	45	116.20
TT8_Kalman	0	0	0.00
Analog_circuits	1573	12	188.82
GPS_charging	0	0	0.00
Compass	1939	15	290.93
RAFOS	1080	1	16.20
Transponder	17	30	5.36

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.62	-146.0	0.0	0.0	0	25	0.00	0.00	-6.50	0.000	2	0.000	0.000	2890	2271	3061	0	0	0	0	0	0
28	-0.62	-146.0	7.2	-0.0	1	53	0.62	2.70	-17.55	0.000	4	0.100	0.083	2668	3900	3625	0	0	0	0	0	0
95	-0.52	-146.0	15.5	-16.1	12	102	0.00	2.20	0.00	0.000	6	0.000	0.048	2667	2488	3627	0	0	0	0	0	0
441	-0.41	-146.0	72.6	-15.2	73	448	0.22	2.25	0.00	0.000	4	0.205	0.061	2724	1075	3626	0	0	0	0	0	0
513	-0.47	-146.0	80.9	-10.2	85	520	0.00	2.30	0.00	0.000	6	0.000	0.063	2724	2493	3627	0	0	0	0	0	0
856	-0.53	-146.0	116.4	-9.2	132	857	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2493	3626	0	0	0	0	0	0
1175	-0.59	-146.0	146.6	-9.4	162	1180	0.15	2.35	0.00	0.000	4	0.116	0.080	2671	3907	3624	0	0	0	0	0	0
1217	-0.56	-146.0	151.6	-13.0	165	1221	0.00	2.25	0.00	0.000	6	0.000	0.050	2671	2484	3624	0	0	0	0	0	0
1544	-0.51	-146.0	196.0	-14.0	195	1548	0.00	2.28	0.00	0.000	4	0.000	0.066	2671	1069	3622	0	0	0	0	0	0
1585	-0.49	-146.0	202.0	-14.6	198	1590	0.12	2.30	0.00	0.000	6	0.213	0.064	2699	2492	3622	0	0	0	0	0	0
1911	-0.52	-146.0	235.3	-9.2	228	1912	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2492	3621	0	0	0	0	0	0
2232	-0.56	-146.0	264.0	-8.8	258	2238	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2492	3621	0	0	0	0	0	0
2560	-0.60	-146.0	294.0	-9.4	289	2564	0.00	2.33	0.00	0.000	4	0.000	0.076	2699	3907	3622	0	0	0	0	0	0
2571	-0.64	-146.0	295.2	-9.0	289	2579	0.15	2.22	0.00	0.000	6	0.113	0.044	2649	2486	3621	0	0	0	0	0	0
2897	-0.57	-146.0	336.7	-13.0	320	2902	0.12	2.25	0.00	0.000	4	0.207	0.060	2678	1072	3622	0	0	0	0	0	0
2930	-0.57	-146.0	340.9	-11.0	322	2937	0.00	2.28	0.00	0.000	6	0.000	0.060	2678	2499	3622	0	0	0	0	0	0
3256	-0.57	-146.0	372.7	-9.2	353	3257	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2499	3623	0	0	0	0	0	0
3577	-0.57	-146.0	403.2	-9.8	383	3583	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2500	3624	0	0	0	0	0	0
3906	-0.57	-146.0	434.0	-8.8	414	3910	0.00	2.28	0.00	0.000	4	0.000	0.074	2678	3899	3624	0	0	0	0	0	0
3961	-0.61	-146.0	439.3	-8.5	418	3968	0.00	2.22	0.00	0.000	6	0.000	0.045	2678	2480	3624	0	0	0	0	0	0
4287	-0.61	-146.0	466.6	-8.4	449	4288	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2480	3625	0	0	0	0	0	0
4606	-0.61	-146.0	494.5	-9.1	479	4610	0.00	2.20	0.00	0.000	4	0.000	0.059	2678	1081	3625	0	0	0	0	0	0
4626	-0.61	-146.0	496.4	-9.5	480	4630	0.00	2.28	0.00	0.000	6	0.000	0.057	2677	2499	3625	0	0	0	0	0	0
4952	-0.61	-146.0	526.6	-9.3	510	4956	0.00	2.28	0.00	0.000	4	0.000	0.074	2678	3899	3626	0	0	0	0	0	0
4962	-0.61	-146.0	527.8	-9.4	510	4969	0.00	2.17	0.00	0.000	6	0.000	0.043	2678	2487	3626	0	0	0	0	0	0
5288	-0.61	-146.0	558.4	-9.7	541	5292	0.00	2.22	0.00	0.000	4	0.000	0.058	2677	1082	3627	0	0	0	0	0	0
5298	-0.61	-146.0	559.5	-9.2	541	5305	0.00	2.25	0.00	0.000	6	0.000	0.057	2678	2497	3626	0	0	0	0	0	0
5624	-0.61	-146.0	589.5	-9.4	572	5628	0.00	2.30	0.00	0.000	4	0.000	0.076	2677	3905	3627	0	0	0	0	0	0
5645	-0.61	-146.0	591.8	-9.9	573	5652	0.00	2.20	0.00	0.000	6	0.000	0.045	2678	2492	3627	0	0	0	0	0	0
5983	-0.61	-146.0	622.5	-8.8	590	5984	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2492	3627	0	0	0	0	0	0
6289	-0.76	-146.0	645.4	-4.8	600	6294	0.17	2.25	0.00	0.000	4	0.115	0.063	2619	1085	3627	0	0	0	0	0	0
6356	-1.01	-146.0	645.6	-0.5	602	6361	0.22	2.25	0.00	0.000	6	0.092	0.060	2533	2492	3627	0	0	0	0	0	0
6443	end dive: NO_VERTICAL_VELOCITY
state	6444	begin apogee
6451	-0.12	0.0	645.5	0.0	605	6582	0.90	0.00	124.95	1.309	6	0.142	0.000	2816	2263	3030	0	0	0	0	0	0
6583	end apogee: CONTROL_FINISHED_OK
state	6583	begin climb
6586	0.62	146.0	645.4	0.0	609	6726	0.77	2.55	131.25	1.260	4	0.122	0.067	3057	3674	2433	0	0	0	0	0	0
6922	0.53	146.0	612.1	12.0	619	6927	0.12	2.30	0.00	0.000	6	0.181	0.054	3038	2288	2428	0	0	0	0	0	0
7244	0.55	161.6	582.6	9.3	641	7263	0.00	0.00	13.57	1.132	6	0.000	0.000	3038	2288	2370	0	0	0	0	0	0
7582	0.57	178.6	551.0	9.2	673	7605	0.00	2.30	16.35	1.157	4	0.000	0.069	3038	3687	2301	0	0	0	0	0	0
7640	0.57	178.6	544.9	11.0	678	7644	0.00	2.28	0.00	0.000	6	0.000	0.056	3046	2277	2300	0	0	0	0	0	0
7966	0.57	178.6	511.2	10.1	708	7967	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2277	2298	0	0	0	0	0	0
8286	0.57	181.6	479.0	9.9	738	8287	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2277	2297	0	0	0	0	0	0
8604	0.57	181.6	446.5	10.3	768	8608	0.00	2.30	0.00	0.000	4	0.000	0.070	3046	3697	2296	0	0	0	0	0	0
8649	0.54	181.6	441.1	11.7	771	8655	0.00	2.28	0.00	0.000	6	0.000	0.054	3056	2271	2296	0	0	0	0	0	0
8975	0.51	181.6	405.0	11.7	802	8979	0.00	2.30	0.00	0.000	4	0.000	0.069	3056	3696	2295	0	0	0	0	0	0
9019	0.45	181.6	399.1	12.9	805	9027	0.20	2.25	0.00	0.000	6	0.177	0.053	3014	2266	2296	0	0	0	0	0	0
9345	0.55	204.0	369.5	9.0	836	9374	0.00	0.00	22.70	1.102	6	0.000	0.000	3014	2266	2197	0	0	0	0	0	0
9696	0.69	249.8	340.1	7.9	869	9744	0.20	0.00	41.85	1.095	6	0.078	0.000	3101	2266	2011	0	0	0	0	0	0
10062	0.60	249.8	280.6	16.5	904	10067	0.17	2.33	0.00	0.000	4	0.185	0.067	3055	3690	2003	0	0	0	0	0	0
10131	0.60	249.8	271.1	12.7	910	10135	0.00	2.22	0.00	0.000	6	0.000	0.053	3063	2277	2003	0	0	0	0	0	0
10458	0.60	249.8	231.9	11.8	940	10462	0.00	2.25	0.00	0.000	4	0.000	0.065	3074	863	2001	0	0	0	0	0	0
10510	0.64	249.8	225.4	12.1	944	10515	0.00	2.22	0.00	0.000	6	0.000	0.054	3074	2281	2000	0	0	0	0	0	0
10836	0.64	249.8	182.3	13.0	974	10840	0.00	2.22	0.00	0.000	4	0.000	0.067	3074	3683	2000	0	0	0	0	0	0
10948	0.64	249.8	166.3	13.8	983	10955	0.00	2.22	0.00	0.000	6	0.000	0.062	3084	2275	1999	0	0	0	0	0	0
11273	0.64	249.8	123.3	12.3	1014	11274	0.00	0.00	0.00	0.000	6	0.000	0.000	3083	2275	1999	0	0	0	0	0	0
11599	0.67	249.8	84.1	11.5	1055	11606	0.00	2.25	0.00	0.000	4	0.000	0.064	3094	856	1999	0	0	0	0	0	0
11642	0.72	249.8	79.4	10.6	1062	11649	0.00	2.22	0.00	0.000	6	0.000	0.054	3095	2275	1999	0	0	0	0	0	0
11989	0.76	260.4	44.6	9.5	1123	12003	0.00	2.35	8.82	0.832	4	0.000	0.068	3094	3688	1968	0	0	0	0	0	0
12101	0.76	260.4	31.8	11.6	1142	12108	0.00	2.25	0.00	0.000	6	0.000	0.052	3105	2272	1967	0	0	0	0	0	0
12385	end climb: SURFACE_DEPTH_REACHED
state	12385	begin surface coast
12418	end surface coast: CONTROL_FINISHED_OK
state	12418	begin surface